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<div class="title">organized_pointcloud_conversion.h</div>  </div>
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<div class="fragment"><div class="line"><a name="l00001"></a><span class="lineno">    1</span>&#160;<span class="comment">/*</span></div>
<div class="line"><a name="l00002"></a><span class="lineno">    2</span>&#160;<span class="comment"> * Software License Agreement (BSD License)</span></div>
<div class="line"><a name="l00003"></a><span class="lineno">    3</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00004"></a><span class="lineno">    4</span>&#160;<span class="comment"> *  Point Cloud Library (PCL) - www.pointclouds.org</span></div>
<div class="line"><a name="l00005"></a><span class="lineno">    5</span>&#160;<span class="comment"> *  Copyright (c) 2010-2011, Willow Garage, Inc.</span></div>
<div class="line"><a name="l00006"></a><span class="lineno">    6</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00007"></a><span class="lineno">    7</span>&#160;<span class="comment"> *  All rights reserved.</span></div>
<div class="line"><a name="l00008"></a><span class="lineno">    8</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00009"></a><span class="lineno">    9</span>&#160;<span class="comment"> *  Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a name="l00010"></a><span class="lineno">   10</span>&#160;<span class="comment"> *  modification, are permitted provided that the following conditions</span></div>
<div class="line"><a name="l00011"></a><span class="lineno">   11</span>&#160;<span class="comment"> *  are met:</span></div>
<div class="line"><a name="l00012"></a><span class="lineno">   12</span>&#160;<span class="comment"> *</span></div>
<div class="line"><a name="l00013"></a><span class="lineno">   13</span>&#160;<span class="comment"> *   * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a name="l00014"></a><span class="lineno">   14</span>&#160;<span class="comment"> *     notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a name="l00017"></a><span class="lineno">   17</span>&#160;<span class="comment"> *     disclaimer in the documentation and/or other materials provided</span></div>
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<div class="line"><a name="l00034"></a><span class="lineno">   34</span>&#160;<span class="comment"> *  POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a name="l00036"></a><span class="lineno">   36</span>&#160;<span class="comment"> * $Id$</span></div>
<div class="line"><a name="l00037"></a><span class="lineno">   37</span>&#160;<span class="comment"> * Authors: Julius Kammerl (julius@kammerl.de)</span></div>
<div class="line"><a name="l00038"></a><span class="lineno">   38</span>&#160;<span class="comment"> */</span></div>
<div class="line"><a name="l00039"></a><span class="lineno">   39</span>&#160; </div>
<div class="line"><a name="l00040"></a><span class="lineno">   40</span>&#160;<span class="preprocessor">#ifndef PCL_ORGANIZED_CONVERSION_H_</span></div>
<div class="line"><a name="l00041"></a><span class="lineno">   41</span>&#160;<span class="preprocessor">#define PCL_ORGANIZED_CONVERSION_H_</span></div>
<div class="line"><a name="l00042"></a><span class="lineno">   42</span>&#160; </div>
<div class="line"><a name="l00043"></a><span class="lineno">   43</span>&#160;<span class="preprocessor">#include &lt;pcl/pcl_macros.h&gt;</span></div>
<div class="line"><a name="l00044"></a><span class="lineno">   44</span>&#160;<span class="preprocessor">#include &lt;pcl/point_cloud.h&gt;</span></div>
<div class="line"><a name="l00045"></a><span class="lineno">   45</span>&#160; </div>
<div class="line"><a name="l00046"></a><span class="lineno">   46</span>&#160;<span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a name="l00047"></a><span class="lineno">   47</span>&#160;<span class="preprocessor">#include &lt;limits&gt;</span></div>
<div class="line"><a name="l00048"></a><span class="lineno">   48</span>&#160;<span class="preprocessor">#include &lt;assert.h&gt;</span></div>
<div class="line"><a name="l00049"></a><span class="lineno">   49</span>&#160; </div>
<div class="line"><a name="l00050"></a><span class="lineno">   50</span>&#160;<span class="keyword">namespace </span>pcl</div>
<div class="line"><a name="l00051"></a><span class="lineno">   51</span>&#160;{</div>
<div class="line"><a name="l00052"></a><span class="lineno">   52</span>&#160;  <span class="keyword">namespace </span>io</div>
<div class="line"><a name="l00053"></a><span class="lineno">   53</span>&#160;  {</div>
<div class="line"><a name="l00054"></a><span class="lineno">   54</span>&#160; </div>
<div class="line"><a name="l00055"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_compression_point_traits.html">   55</a></span>&#160;    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt; <span class="keyword">struct </span><a class="code" href="structpcl_1_1io_1_1_compression_point_traits.html">CompressionPointTraits</a></div>
<div class="line"><a name="l00056"></a><span class="lineno">   56</span>&#160;    {</div>
<div class="line"><a name="l00057"></a><span class="lineno">   57</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> hasColor = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00058"></a><span class="lineno">   58</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> channels = 1;</div>
<div class="line"><a name="l00059"></a><span class="lineno">   59</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">size_t</span> bytesPerPoint = 3 * <span class="keyword">sizeof</span>(float);</div>
<div class="line"><a name="l00060"></a><span class="lineno">   60</span>&#160;    };</div>
<div class="line"><a name="l00061"></a><span class="lineno">   61</span>&#160; </div>
<div class="line"><a name="l00062"></a><span class="lineno">   62</span>&#160;    <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00063"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_compression_point_traits_3_01_point_x_y_z_r_g_b_01_4.html">   63</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1io_1_1_compression_point_traits.html">CompressionPointTraits</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b.html">PointXYZRGB</a>&gt;</div>
<div class="line"><a name="l00064"></a><span class="lineno">   64</span>&#160;    {</div>
<div class="line"><a name="l00065"></a><span class="lineno">   65</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> hasColor = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00066"></a><span class="lineno">   66</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> channels = 4;</div>
<div class="line"><a name="l00067"></a><span class="lineno">   67</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">size_t</span> bytesPerPoint = 3 * <span class="keyword">sizeof</span>(float) + 3 * <span class="keyword">sizeof</span>(uint8_t);</div>
<div class="line"><a name="l00068"></a><span class="lineno">   68</span>&#160;    };</div>
<div class="line"><a name="l00069"></a><span class="lineno">   69</span>&#160; </div>
<div class="line"><a name="l00070"></a><span class="lineno">   70</span>&#160;    <span class="keyword">template</span>&lt;&gt;</div>
<div class="line"><a name="l00071"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_compression_point_traits_3_01_point_x_y_z_r_g_b_a_01_4.html">   71</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1io_1_1_compression_point_traits.html">CompressionPointTraits</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointXYZRGBA</a>&gt;</div>
<div class="line"><a name="l00072"></a><span class="lineno">   72</span>&#160;    {</div>
<div class="line"><a name="l00073"></a><span class="lineno">   73</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">bool</span> hasColor = <span class="keyword">true</span>;</div>
<div class="line"><a name="l00074"></a><span class="lineno">   74</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> channels = 4;</div>
<div class="line"><a name="l00075"></a><span class="lineno">   75</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">size_t</span> bytesPerPoint = 3 * <span class="keyword">sizeof</span>(float) + 3 * <span class="keyword">sizeof</span>(uint8_t);</div>
<div class="line"><a name="l00076"></a><span class="lineno">   76</span>&#160;    };</div>
<div class="line"><a name="l00077"></a><span class="lineno">   77</span>&#160; </div>
<div class="line"><a name="l00079"></a><span class="lineno">   79</span>&#160;    template &lt;typename PointT, bool enableColor = CompressionPointTraits&lt;PointT&gt;::hasColor &gt;</div>
<div class="line"><a name="l00080"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_organized_conversion.html">   80</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1io_1_1_organized_conversion.html">OrganizedConversion</a>;</div>
<div class="line"><a name="l00081"></a><span class="lineno">   81</span>&#160; </div>
<div class="line"><a name="l00083"></a><span class="lineno">   83</span>&#160;    <span class="comment">// Uncolored point cloud specialization</span></div>
<div class="line"><a name="l00085"></a><span class="lineno">   85</span>&#160;<span class="comment"></span>    <span class="keyword">template</span>&lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00086"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html">   86</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1io_1_1_organized_conversion.html">OrganizedConversion</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, false&gt;</div>
<div class="line"><a name="l00087"></a><span class="lineno">   87</span>&#160;    {</div>
<div class="line"><a name="l00096"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html#aaa671985f19196a8bff9a17b28fdb7ce">   96</a></span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html#aaa671985f19196a8bff9a17b28fdb7ce">convert</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud_arg,</div>
<div class="line"><a name="l00097"></a><span class="lineno">   97</span>&#160;                          <span class="keywordtype">float</span> focalLength_arg,</div>
<div class="line"><a name="l00098"></a><span class="lineno">   98</span>&#160;                          <span class="keywordtype">float</span> disparityShift_arg,</div>
<div class="line"><a name="l00099"></a><span class="lineno">   99</span>&#160;                          <span class="keywordtype">float</span> disparityScale_arg,</div>
<div class="line"><a name="l00100"></a><span class="lineno">  100</span>&#160;                          <span class="keywordtype">bool</span> ,</div>
<div class="line"><a name="l00101"></a><span class="lineno">  101</span>&#160;                          <span class="keyword">typename</span> std::vector&lt;uint16_t&gt;&amp; disparityData_arg,</div>
<div class="line"><a name="l00102"></a><span class="lineno">  102</span>&#160;                          <span class="keyword">typename</span> std::vector&lt;uint8_t&gt;&amp;)</div>
<div class="line"><a name="l00103"></a><span class="lineno">  103</span>&#160;      {</div>
<div class="line"><a name="l00104"></a><span class="lineno">  104</span>&#160;        <span class="keywordtype">size_t</span> cloud_size, i;</div>
<div class="line"><a name="l00105"></a><span class="lineno">  105</span>&#160; </div>
<div class="line"><a name="l00106"></a><span class="lineno">  106</span>&#160;        cloud_size = cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00107"></a><span class="lineno">  107</span>&#160; </div>
<div class="line"><a name="l00108"></a><span class="lineno">  108</span>&#160;        <span class="comment">// Clear image data</span></div>
<div class="line"><a name="l00109"></a><span class="lineno">  109</span>&#160;        disparityData_arg.clear ();</div>
<div class="line"><a name="l00110"></a><span class="lineno">  110</span>&#160; </div>
<div class="line"><a name="l00111"></a><span class="lineno">  111</span>&#160;        disparityData_arg.reserve (cloud_size);</div>
<div class="line"><a name="l00112"></a><span class="lineno">  112</span>&#160; </div>
<div class="line"><a name="l00113"></a><span class="lineno">  113</span>&#160;        <span class="keywordflow">for</span> (i = 0; i &lt; cloud_size; ++i)</div>
<div class="line"><a name="l00114"></a><span class="lineno">  114</span>&#160;        {</div>
<div class="line"><a name="l00115"></a><span class="lineno">  115</span>&#160;          <span class="comment">// Get point from cloud</span></div>
<div class="line"><a name="l00116"></a><span class="lineno">  116</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00117"></a><span class="lineno">  117</span>&#160; </div>
<div class="line"><a name="l00118"></a><span class="lineno">  118</span>&#160;          <span class="keywordflow">if</span> (pcl::isFinite (point))</div>
<div class="line"><a name="l00119"></a><span class="lineno">  119</span>&#160;          {</div>
<div class="line"><a name="l00120"></a><span class="lineno">  120</span>&#160;            <span class="comment">// Inverse depth quantization</span></div>
<div class="line"><a name="l00121"></a><span class="lineno">  121</span>&#160;            uint16_t disparity = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span> ( focalLength_arg / (disparityScale_arg * point.z) + disparityShift_arg / disparityScale_arg);</div>
<div class="line"><a name="l00122"></a><span class="lineno">  122</span>&#160;            disparityData_arg.push_back (disparity);</div>
<div class="line"><a name="l00123"></a><span class="lineno">  123</span>&#160;          }</div>
<div class="line"><a name="l00124"></a><span class="lineno">  124</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00125"></a><span class="lineno">  125</span>&#160;          {</div>
<div class="line"><a name="l00126"></a><span class="lineno">  126</span>&#160;            <span class="comment">// Non-valid points are encoded with zeros</span></div>
<div class="line"><a name="l00127"></a><span class="lineno">  127</span>&#160;            disparityData_arg.push_back (0);</div>
<div class="line"><a name="l00128"></a><span class="lineno">  128</span>&#160;          }</div>
<div class="line"><a name="l00129"></a><span class="lineno">  129</span>&#160;        }</div>
<div class="line"><a name="l00130"></a><span class="lineno">  130</span>&#160;      }</div>
<div class="line"><a name="l00131"></a><span class="lineno">  131</span>&#160; </div>
<div class="line"><a name="l00142"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html#ab75504ecc6fa90059ae3d7839a4245d3">  142</a></span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html#ab75504ecc6fa90059ae3d7839a4245d3">convert</a>(<span class="keyword">typename</span> std::vector&lt;uint16_t&gt;&amp; disparityData_arg,</div>
<div class="line"><a name="l00143"></a><span class="lineno">  143</span>&#160;                          <span class="keyword">typename</span> std::vector&lt;uint8_t&gt;&amp;,</div>
<div class="line"><a name="l00144"></a><span class="lineno">  144</span>&#160;                          <span class="keywordtype">bool</span>,</div>
<div class="line"><a name="l00145"></a><span class="lineno">  145</span>&#160;                          <span class="keywordtype">size_t</span> width_arg,</div>
<div class="line"><a name="l00146"></a><span class="lineno">  146</span>&#160;                          <span class="keywordtype">size_t</span> height_arg,</div>
<div class="line"><a name="l00147"></a><span class="lineno">  147</span>&#160;                          <span class="keywordtype">float</span> focalLength_arg,</div>
<div class="line"><a name="l00148"></a><span class="lineno">  148</span>&#160;                          <span class="keywordtype">float</span> disparityShift_arg,</div>
<div class="line"><a name="l00149"></a><span class="lineno">  149</span>&#160;                          <span class="keywordtype">float</span> disparityScale_arg,</div>
<div class="line"><a name="l00150"></a><span class="lineno">  150</span>&#160;                          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud_arg)</div>
<div class="line"><a name="l00151"></a><span class="lineno">  151</span>&#160;      {</div>
<div class="line"><a name="l00152"></a><span class="lineno">  152</span>&#160;        <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00153"></a><span class="lineno">  153</span>&#160;        <span class="keywordtype">size_t</span> cloud_size = width_arg * height_arg;</div>
<div class="line"><a name="l00154"></a><span class="lineno">  154</span>&#160;        <span class="keywordtype">int</span> x, y, centerX, centerY;</div>
<div class="line"><a name="l00155"></a><span class="lineno">  155</span>&#160; </div>
<div class="line"><a name="l00156"></a><span class="lineno">  156</span>&#160;        assert(disparityData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00157"></a><span class="lineno">  157</span>&#160; </div>
<div class="line"><a name="l00158"></a><span class="lineno">  158</span>&#160;        <span class="comment">// Reset point cloud</span></div>
<div class="line"><a name="l00159"></a><span class="lineno">  159</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00160"></a><span class="lineno">  160</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve (cloud_size);</div>
<div class="line"><a name="l00161"></a><span class="lineno">  161</span>&#160; </div>
<div class="line"><a name="l00162"></a><span class="lineno">  162</span>&#160;        <span class="comment">// Define point cloud parameters</span></div>
<div class="line"><a name="l00163"></a><span class="lineno">  163</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (width_arg);</div>
<div class="line"><a name="l00164"></a><span class="lineno">  164</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (height_arg);</div>
<div class="line"><a name="l00165"></a><span class="lineno">  165</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00166"></a><span class="lineno">  166</span>&#160; </div>
<div class="line"><a name="l00167"></a><span class="lineno">  167</span>&#160;        <span class="comment">// Calculate center of disparity image</span></div>
<div class="line"><a name="l00168"></a><span class="lineno">  168</span>&#160;        centerX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (width_arg / 2);</div>
<div class="line"><a name="l00169"></a><span class="lineno">  169</span>&#160;        centerY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (height_arg / 2);</div>
<div class="line"><a name="l00170"></a><span class="lineno">  170</span>&#160; </div>
<div class="line"><a name="l00171"></a><span class="lineno">  171</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> fl_const = 1.0f / focalLength_arg;</div>
<div class="line"><a name="l00172"></a><span class="lineno">  172</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00173"></a><span class="lineno">  173</span>&#160; </div>
<div class="line"><a name="l00174"></a><span class="lineno">  174</span>&#160;        i = 0;</div>
<div class="line"><a name="l00175"></a><span class="lineno">  175</span>&#160;        <span class="keywordflow">for</span> (y = -centerY; y &lt; +centerY; ++y)</div>
<div class="line"><a name="l00176"></a><span class="lineno">  176</span>&#160;          <span class="keywordflow">for</span> (x = -centerX; x &lt; +centerX; ++x)</div>
<div class="line"><a name="l00177"></a><span class="lineno">  177</span>&#160;          {</div>
<div class="line"><a name="l00178"></a><span class="lineno">  178</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> newPoint;</div>
<div class="line"><a name="l00179"></a><span class="lineno">  179</span>&#160;            <span class="keyword">const</span> uint16_t&amp; pixel_disparity = disparityData_arg[i];</div>
<div class="line"><a name="l00180"></a><span class="lineno">  180</span>&#160;            ++i;</div>
<div class="line"><a name="l00181"></a><span class="lineno">  181</span>&#160; </div>
<div class="line"><a name="l00182"></a><span class="lineno">  182</span>&#160;            <span class="keywordflow">if</span> (pixel_disparity)</div>
<div class="line"><a name="l00183"></a><span class="lineno">  183</span>&#160;            {</div>
<div class="line"><a name="l00184"></a><span class="lineno">  184</span>&#160;              <span class="comment">// Inverse depth decoding</span></div>
<div class="line"><a name="l00185"></a><span class="lineno">  185</span>&#160;              <span class="keywordtype">float</span> depth = focalLength_arg / (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pixel_disparity) * disparityScale_arg + disparityShift_arg);</div>
<div class="line"><a name="l00186"></a><span class="lineno">  186</span>&#160; </div>
<div class="line"><a name="l00187"></a><span class="lineno">  187</span>&#160;              <span class="comment">// Generate new points</span></div>
<div class="line"><a name="l00188"></a><span class="lineno">  188</span>&#160;              newPoint.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x) * depth * fl_const;</div>
<div class="line"><a name="l00189"></a><span class="lineno">  189</span>&#160;              newPoint.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y) * depth * fl_const;</div>
<div class="line"><a name="l00190"></a><span class="lineno">  190</span>&#160;              newPoint.z = depth;</div>
<div class="line"><a name="l00191"></a><span class="lineno">  191</span>&#160; </div>
<div class="line"><a name="l00192"></a><span class="lineno">  192</span>&#160;            }</div>
<div class="line"><a name="l00193"></a><span class="lineno">  193</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00194"></a><span class="lineno">  194</span>&#160;            {</div>
<div class="line"><a name="l00195"></a><span class="lineno">  195</span>&#160;              <span class="comment">// Generate bad point</span></div>
<div class="line"><a name="l00196"></a><span class="lineno">  196</span>&#160;              newPoint.x = newPoint.y = newPoint.z = bad_point;</div>
<div class="line"><a name="l00197"></a><span class="lineno">  197</span>&#160;            }</div>
<div class="line"><a name="l00198"></a><span class="lineno">  198</span>&#160; </div>
<div class="line"><a name="l00199"></a><span class="lineno">  199</span>&#160;            cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (newPoint);</div>
<div class="line"><a name="l00200"></a><span class="lineno">  200</span>&#160;          }</div>
<div class="line"><a name="l00201"></a><span class="lineno">  201</span>&#160; </div>
<div class="line"><a name="l00202"></a><span class="lineno">  202</span>&#160;      }</div>
<div class="line"><a name="l00203"></a><span class="lineno">  203</span>&#160; </div>
<div class="line"><a name="l00204"></a><span class="lineno">  204</span>&#160; </div>
<div class="line"><a name="l00213"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html#a579ab39217105926c1cbb6c49e52de2b">  213</a></span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html#a579ab39217105926c1cbb6c49e52de2b">convert</a>(<span class="keyword">typename</span> std::vector&lt;float&gt;&amp; depthData_arg,</div>
<div class="line"><a name="l00214"></a><span class="lineno">  214</span>&#160;                          <span class="keyword">typename</span> std::vector&lt;uint8_t&gt;&amp;,</div>
<div class="line"><a name="l00215"></a><span class="lineno">  215</span>&#160;                          <span class="keywordtype">bool</span>,</div>
<div class="line"><a name="l00216"></a><span class="lineno">  216</span>&#160;                          <span class="keywordtype">size_t</span> width_arg,</div>
<div class="line"><a name="l00217"></a><span class="lineno">  217</span>&#160;                          <span class="keywordtype">size_t</span> height_arg,</div>
<div class="line"><a name="l00218"></a><span class="lineno">  218</span>&#160;                          <span class="keywordtype">float</span> focalLength_arg,</div>
<div class="line"><a name="l00219"></a><span class="lineno">  219</span>&#160;                          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud_arg)</div>
<div class="line"><a name="l00220"></a><span class="lineno">  220</span>&#160;      {</div>
<div class="line"><a name="l00221"></a><span class="lineno">  221</span>&#160;        <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00222"></a><span class="lineno">  222</span>&#160;        <span class="keywordtype">size_t</span> cloud_size = width_arg * height_arg;</div>
<div class="line"><a name="l00223"></a><span class="lineno">  223</span>&#160;        <span class="keywordtype">int</span> x, y, centerX, centerY;</div>
<div class="line"><a name="l00224"></a><span class="lineno">  224</span>&#160; </div>
<div class="line"><a name="l00225"></a><span class="lineno">  225</span>&#160;        assert(depthData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00226"></a><span class="lineno">  226</span>&#160; </div>
<div class="line"><a name="l00227"></a><span class="lineno">  227</span>&#160;        <span class="comment">// Reset point cloud</span></div>
<div class="line"><a name="l00228"></a><span class="lineno">  228</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear ();</div>
<div class="line"><a name="l00229"></a><span class="lineno">  229</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve (cloud_size);</div>
<div class="line"><a name="l00230"></a><span class="lineno">  230</span>&#160; </div>
<div class="line"><a name="l00231"></a><span class="lineno">  231</span>&#160;        <span class="comment">// Define point cloud parameters</span></div>
<div class="line"><a name="l00232"></a><span class="lineno">  232</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (width_arg);</div>
<div class="line"><a name="l00233"></a><span class="lineno">  233</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span> (height_arg);</div>
<div class="line"><a name="l00234"></a><span class="lineno">  234</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00235"></a><span class="lineno">  235</span>&#160; </div>
<div class="line"><a name="l00236"></a><span class="lineno">  236</span>&#160;        <span class="comment">// Calculate center of disparity image</span></div>
<div class="line"><a name="l00237"></a><span class="lineno">  237</span>&#160;        centerX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (width_arg / 2);</div>
<div class="line"><a name="l00238"></a><span class="lineno">  238</span>&#160;        centerY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span> (height_arg / 2);</div>
<div class="line"><a name="l00239"></a><span class="lineno">  239</span>&#160; </div>
<div class="line"><a name="l00240"></a><span class="lineno">  240</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> fl_const = 1.0f / focalLength_arg;</div>
<div class="line"><a name="l00241"></a><span class="lineno">  241</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00242"></a><span class="lineno">  242</span>&#160; </div>
<div class="line"><a name="l00243"></a><span class="lineno">  243</span>&#160;        i = 0;</div>
<div class="line"><a name="l00244"></a><span class="lineno">  244</span>&#160;        <span class="keywordflow">for</span> (y = -centerY; y &lt; +centerY; ++y)</div>
<div class="line"><a name="l00245"></a><span class="lineno">  245</span>&#160;          <span class="keywordflow">for</span> (x = -centerX; x &lt; +centerX; ++x)</div>
<div class="line"><a name="l00246"></a><span class="lineno">  246</span>&#160;          {</div>
<div class="line"><a name="l00247"></a><span class="lineno">  247</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> newPoint;</div>
<div class="line"><a name="l00248"></a><span class="lineno">  248</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; pixel_depth = depthData_arg[i];</div>
<div class="line"><a name="l00249"></a><span class="lineno">  249</span>&#160;            ++i;</div>
<div class="line"><a name="l00250"></a><span class="lineno">  250</span>&#160; </div>
<div class="line"><a name="l00251"></a><span class="lineno">  251</span>&#160;            <span class="keywordflow">if</span> (pixel_depth)</div>
<div class="line"><a name="l00252"></a><span class="lineno">  252</span>&#160;            {</div>
<div class="line"><a name="l00253"></a><span class="lineno">  253</span>&#160;              <span class="comment">// Inverse depth decoding</span></div>
<div class="line"><a name="l00254"></a><span class="lineno">  254</span>&#160;              <span class="keywordtype">float</span> depth = focalLength_arg / pixel_depth;</div>
<div class="line"><a name="l00255"></a><span class="lineno">  255</span>&#160; </div>
<div class="line"><a name="l00256"></a><span class="lineno">  256</span>&#160;              <span class="comment">// Generate new points</span></div>
<div class="line"><a name="l00257"></a><span class="lineno">  257</span>&#160;              newPoint.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x) * depth * fl_const;</div>
<div class="line"><a name="l00258"></a><span class="lineno">  258</span>&#160;              newPoint.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y) * depth * fl_const;</div>
<div class="line"><a name="l00259"></a><span class="lineno">  259</span>&#160;              newPoint.z = depth;</div>
<div class="line"><a name="l00260"></a><span class="lineno">  260</span>&#160; </div>
<div class="line"><a name="l00261"></a><span class="lineno">  261</span>&#160;            }</div>
<div class="line"><a name="l00262"></a><span class="lineno">  262</span>&#160;            <span class="keywordflow">else</span></div>
<div class="line"><a name="l00263"></a><span class="lineno">  263</span>&#160;            {</div>
<div class="line"><a name="l00264"></a><span class="lineno">  264</span>&#160;              <span class="comment">// Generate bad point</span></div>
<div class="line"><a name="l00265"></a><span class="lineno">  265</span>&#160;              newPoint.x = newPoint.y = newPoint.z = bad_point;</div>
<div class="line"><a name="l00266"></a><span class="lineno">  266</span>&#160;            }</div>
<div class="line"><a name="l00267"></a><span class="lineno">  267</span>&#160; </div>
<div class="line"><a name="l00268"></a><span class="lineno">  268</span>&#160;            cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back (newPoint);</div>
<div class="line"><a name="l00269"></a><span class="lineno">  269</span>&#160;          }</div>
<div class="line"><a name="l00270"></a><span class="lineno">  270</span>&#160; </div>
<div class="line"><a name="l00271"></a><span class="lineno">  271</span>&#160;      }</div>
<div class="line"><a name="l00272"></a><span class="lineno">  272</span>&#160; </div>
<div class="line"><a name="l00273"></a><span class="lineno">  273</span>&#160;    };</div>
<div class="line"><a name="l00274"></a><span class="lineno">  274</span>&#160; </div>
<div class="line"><a name="l00276"></a><span class="lineno">  276</span>&#160;    <span class="comment">// Colored point cloud specialization</span></div>
<div class="line"><a name="l00278"></a><span class="lineno">  278</span>&#160;<span class="comment"></span>    <span class="keyword">template</span> &lt;<span class="keyword">typename</span> Po<span class="keywordtype">int</span>T&gt;</div>
<div class="line"><a name="l00279"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html">  279</a></span>&#160;    <span class="keyword">struct </span><a class="code" href="structpcl_1_1io_1_1_organized_conversion.html">OrganizedConversion</a>&lt;<a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>, true&gt;</div>
<div class="line"><a name="l00280"></a><span class="lineno">  280</span>&#160;    {</div>
<div class="line"><a name="l00291"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9121c3d27a9c3390d48cd1b96b2f88ee">  291</a></span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9121c3d27a9c3390d48cd1b96b2f88ee">convert</a>(<span class="keyword">const</span> <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud_arg,</div>
<div class="line"><a name="l00292"></a><span class="lineno">  292</span>&#160;                          <span class="keywordtype">float</span> focalLength_arg,</div>
<div class="line"><a name="l00293"></a><span class="lineno">  293</span>&#160;                          <span class="keywordtype">float</span> disparityShift_arg,</div>
<div class="line"><a name="l00294"></a><span class="lineno">  294</span>&#160;                          <span class="keywordtype">float</span> disparityScale_arg,</div>
<div class="line"><a name="l00295"></a><span class="lineno">  295</span>&#160;                          <span class="keywordtype">bool</span> convertToMono,</div>
<div class="line"><a name="l00296"></a><span class="lineno">  296</span>&#160;                          <span class="keyword">typename</span> std::vector&lt;uint16_t&gt;&amp; disparityData_arg,</div>
<div class="line"><a name="l00297"></a><span class="lineno">  297</span>&#160;                          <span class="keyword">typename</span> std::vector&lt;uint8_t&gt;&amp; rgbData_arg)</div>
<div class="line"><a name="l00298"></a><span class="lineno">  298</span>&#160;      {</div>
<div class="line"><a name="l00299"></a><span class="lineno">  299</span>&#160;        <span class="keywordtype">size_t</span> cloud_size, i;</div>
<div class="line"><a name="l00300"></a><span class="lineno">  300</span>&#160; </div>
<div class="line"><a name="l00301"></a><span class="lineno">  301</span>&#160;        cloud_size = cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.size ();</div>
<div class="line"><a name="l00302"></a><span class="lineno">  302</span>&#160; </div>
<div class="line"><a name="l00303"></a><span class="lineno">  303</span>&#160;        <span class="comment">// Reset output vectors</span></div>
<div class="line"><a name="l00304"></a><span class="lineno">  304</span>&#160;        disparityData_arg.clear ();</div>
<div class="line"><a name="l00305"></a><span class="lineno">  305</span>&#160;        rgbData_arg.clear ();</div>
<div class="line"><a name="l00306"></a><span class="lineno">  306</span>&#160; </div>
<div class="line"><a name="l00307"></a><span class="lineno">  307</span>&#160;        <span class="comment">// Allocate memory</span></div>
<div class="line"><a name="l00308"></a><span class="lineno">  308</span>&#160;        disparityData_arg.reserve (cloud_size);</div>
<div class="line"><a name="l00309"></a><span class="lineno">  309</span>&#160;        <span class="keywordflow">if</span> (convertToMono)</div>
<div class="line"><a name="l00310"></a><span class="lineno">  310</span>&#160;        {</div>
<div class="line"><a name="l00311"></a><span class="lineno">  311</span>&#160;          rgbData_arg.reserve (cloud_size);</div>
<div class="line"><a name="l00312"></a><span class="lineno">  312</span>&#160;        } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00313"></a><span class="lineno">  313</span>&#160;        {</div>
<div class="line"><a name="l00314"></a><span class="lineno">  314</span>&#160;          rgbData_arg.reserve (cloud_size * 3);</div>
<div class="line"><a name="l00315"></a><span class="lineno">  315</span>&#160;        }</div>
<div class="line"><a name="l00316"></a><span class="lineno">  316</span>&#160; </div>
<div class="line"><a name="l00317"></a><span class="lineno">  317</span>&#160; </div>
<div class="line"><a name="l00318"></a><span class="lineno">  318</span>&#160;        <span class="keywordflow">for</span> (i = 0; i &lt; cloud_size; ++i)</div>
<div class="line"><a name="l00319"></a><span class="lineno">  319</span>&#160;        {</div>
<div class="line"><a name="l00320"></a><span class="lineno">  320</span>&#160;          <span class="keyword">const</span> <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a>&amp; point = cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>[i];</div>
<div class="line"><a name="l00321"></a><span class="lineno">  321</span>&#160; </div>
<div class="line"><a name="l00322"></a><span class="lineno">  322</span>&#160;          <span class="keywordflow">if</span> (pcl::isFinite (point))</div>
<div class="line"><a name="l00323"></a><span class="lineno">  323</span>&#160;          {</div>
<div class="line"><a name="l00324"></a><span class="lineno">  324</span>&#160;            <span class="keywordflow">if</span> (convertToMono)</div>
<div class="line"><a name="l00325"></a><span class="lineno">  325</span>&#160;            {</div>
<div class="line"><a name="l00326"></a><span class="lineno">  326</span>&#160;              <span class="comment">// Encode point color</span></div>
<div class="line"><a name="l00327"></a><span class="lineno">  327</span>&#160;              <span class="keyword">const</span> uint32_t rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span> (&amp;point.rgb);</div>
<div class="line"><a name="l00328"></a><span class="lineno">  328</span>&#160;              uint8_t grayvalue = <span class="keyword">static_cast&lt;</span>uint8_t<span class="keyword">&gt;</span>(0.2989 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>((rgb &gt;&gt; 16) &amp; 0x0000ff) +</div>
<div class="line"><a name="l00329"></a><span class="lineno">  329</span>&#160;                                                       0.5870 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>((rgb &gt;&gt; 8)  &amp; 0x0000ff) +</div>
<div class="line"><a name="l00330"></a><span class="lineno">  330</span>&#160;                                                       0.1140 * <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span>((rgb &gt;&gt; 0)  &amp; 0x0000ff));</div>
<div class="line"><a name="l00331"></a><span class="lineno">  331</span>&#160; </div>
<div class="line"><a name="l00332"></a><span class="lineno">  332</span>&#160;              rgbData_arg.push_back (grayvalue);</div>
<div class="line"><a name="l00333"></a><span class="lineno">  333</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00334"></a><span class="lineno">  334</span>&#160;            {</div>
<div class="line"><a name="l00335"></a><span class="lineno">  335</span>&#160;              <span class="comment">// Encode point color</span></div>
<div class="line"><a name="l00336"></a><span class="lineno">  336</span>&#160;              <span class="keyword">const</span> uint32_t rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keyword">const </span><span class="keywordtype">int</span>*<span class="keyword">&gt;</span> (&amp;point.rgb);</div>
<div class="line"><a name="l00337"></a><span class="lineno">  337</span>&#160; </div>
<div class="line"><a name="l00338"></a><span class="lineno">  338</span>&#160;              rgbData_arg.push_back ( (rgb &gt;&gt; 16) &amp; 0x0000ff);</div>
<div class="line"><a name="l00339"></a><span class="lineno">  339</span>&#160;              rgbData_arg.push_back ( (rgb &gt;&gt; 8) &amp; 0x0000ff);</div>
<div class="line"><a name="l00340"></a><span class="lineno">  340</span>&#160;              rgbData_arg.push_back ( (rgb &gt;&gt; 0) &amp; 0x0000ff);</div>
<div class="line"><a name="l00341"></a><span class="lineno">  341</span>&#160;            }</div>
<div class="line"><a name="l00342"></a><span class="lineno">  342</span>&#160; </div>
<div class="line"><a name="l00343"></a><span class="lineno">  343</span>&#160; </div>
<div class="line"><a name="l00344"></a><span class="lineno">  344</span>&#160;            <span class="comment">// Inverse depth quantization</span></div>
<div class="line"><a name="l00345"></a><span class="lineno">  345</span>&#160;            uint16_t disparity = <span class="keyword">static_cast&lt;</span>uint16_t<span class="keyword">&gt;</span> (focalLength_arg / (disparityScale_arg * point.z) + disparityShift_arg / disparityScale_arg);</div>
<div class="line"><a name="l00346"></a><span class="lineno">  346</span>&#160; </div>
<div class="line"><a name="l00347"></a><span class="lineno">  347</span>&#160;            <span class="comment">// Encode disparity</span></div>
<div class="line"><a name="l00348"></a><span class="lineno">  348</span>&#160;            disparityData_arg.push_back (disparity);</div>
<div class="line"><a name="l00349"></a><span class="lineno">  349</span>&#160;          }</div>
<div class="line"><a name="l00350"></a><span class="lineno">  350</span>&#160;          <span class="keywordflow">else</span></div>
<div class="line"><a name="l00351"></a><span class="lineno">  351</span>&#160;          {</div>
<div class="line"><a name="l00352"></a><span class="lineno">  352</span>&#160; </div>
<div class="line"><a name="l00353"></a><span class="lineno">  353</span>&#160;            <span class="comment">// Encode black point</span></div>
<div class="line"><a name="l00354"></a><span class="lineno">  354</span>&#160;            <span class="keywordflow">if</span> (convertToMono)</div>
<div class="line"><a name="l00355"></a><span class="lineno">  355</span>&#160;            {</div>
<div class="line"><a name="l00356"></a><span class="lineno">  356</span>&#160;              rgbData_arg.push_back (0);</div>
<div class="line"><a name="l00357"></a><span class="lineno">  357</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00358"></a><span class="lineno">  358</span>&#160;            {</div>
<div class="line"><a name="l00359"></a><span class="lineno">  359</span>&#160;              rgbData_arg.push_back (0);</div>
<div class="line"><a name="l00360"></a><span class="lineno">  360</span>&#160;              rgbData_arg.push_back (0);</div>
<div class="line"><a name="l00361"></a><span class="lineno">  361</span>&#160;              rgbData_arg.push_back (0);</div>
<div class="line"><a name="l00362"></a><span class="lineno">  362</span>&#160;            }</div>
<div class="line"><a name="l00363"></a><span class="lineno">  363</span>&#160; </div>
<div class="line"><a name="l00364"></a><span class="lineno">  364</span>&#160;            <span class="comment">// Encode bad point</span></div>
<div class="line"><a name="l00365"></a><span class="lineno">  365</span>&#160;            disparityData_arg.push_back (0);</div>
<div class="line"><a name="l00366"></a><span class="lineno">  366</span>&#160;          }</div>
<div class="line"><a name="l00367"></a><span class="lineno">  367</span>&#160;        }</div>
<div class="line"><a name="l00368"></a><span class="lineno">  368</span>&#160; </div>
<div class="line"><a name="l00369"></a><span class="lineno">  369</span>&#160;      }</div>
<div class="line"><a name="l00370"></a><span class="lineno">  370</span>&#160; </div>
<div class="line"><a name="l00383"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#ae1202bbc3864ed61308a9a80f30953e4">  383</a></span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#ae1202bbc3864ed61308a9a80f30953e4">convert</a>(<span class="keyword">typename</span> std::vector&lt;uint16_t&gt;&amp; disparityData_arg,</div>
<div class="line"><a name="l00384"></a><span class="lineno">  384</span>&#160;                          <span class="keyword">typename</span> std::vector&lt;uint8_t&gt;&amp; rgbData_arg,</div>
<div class="line"><a name="l00385"></a><span class="lineno">  385</span>&#160;                          <span class="keywordtype">bool</span> monoImage_arg,</div>
<div class="line"><a name="l00386"></a><span class="lineno">  386</span>&#160;                          <span class="keywordtype">size_t</span> width_arg,</div>
<div class="line"><a name="l00387"></a><span class="lineno">  387</span>&#160;                          <span class="keywordtype">size_t</span> height_arg,</div>
<div class="line"><a name="l00388"></a><span class="lineno">  388</span>&#160;                          <span class="keywordtype">float</span> focalLength_arg,</div>
<div class="line"><a name="l00389"></a><span class="lineno">  389</span>&#160;                          <span class="keywordtype">float</span> disparityShift_arg,</div>
<div class="line"><a name="l00390"></a><span class="lineno">  390</span>&#160;                          <span class="keywordtype">float</span> disparityScale_arg,</div>
<div class="line"><a name="l00391"></a><span class="lineno">  391</span>&#160;                          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud_arg)</div>
<div class="line"><a name="l00392"></a><span class="lineno">  392</span>&#160;      {</div>
<div class="line"><a name="l00393"></a><span class="lineno">  393</span>&#160;        <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00394"></a><span class="lineno">  394</span>&#160;        <span class="keywordtype">size_t</span> cloud_size = width_arg*height_arg;</div>
<div class="line"><a name="l00395"></a><span class="lineno">  395</span>&#160;        <span class="keywordtype">bool</span> hasColor = (rgbData_arg.size () &gt; 0);</div>
<div class="line"><a name="l00396"></a><span class="lineno">  396</span>&#160; </div>
<div class="line"><a name="l00397"></a><span class="lineno">  397</span>&#160;        <span class="comment">// Check size of input data</span></div>
<div class="line"><a name="l00398"></a><span class="lineno">  398</span>&#160;        assert (disparityData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00399"></a><span class="lineno">  399</span>&#160;        <span class="keywordflow">if</span> (hasColor)</div>
<div class="line"><a name="l00400"></a><span class="lineno">  400</span>&#160;        {</div>
<div class="line"><a name="l00401"></a><span class="lineno">  401</span>&#160;          <span class="keywordflow">if</span> (monoImage_arg)</div>
<div class="line"><a name="l00402"></a><span class="lineno">  402</span>&#160;          {</div>
<div class="line"><a name="l00403"></a><span class="lineno">  403</span>&#160;            assert (rgbData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00404"></a><span class="lineno">  404</span>&#160;          } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00405"></a><span class="lineno">  405</span>&#160;          {</div>
<div class="line"><a name="l00406"></a><span class="lineno">  406</span>&#160;            assert (rgbData_arg.size()==cloud_size*3);</div>
<div class="line"><a name="l00407"></a><span class="lineno">  407</span>&#160;          }</div>
<div class="line"><a name="l00408"></a><span class="lineno">  408</span>&#160;        }</div>
<div class="line"><a name="l00409"></a><span class="lineno">  409</span>&#160; </div>
<div class="line"><a name="l00410"></a><span class="lineno">  410</span>&#160;        <span class="keywordtype">int</span> x, y, centerX, centerY;</div>
<div class="line"><a name="l00411"></a><span class="lineno">  411</span>&#160; </div>
<div class="line"><a name="l00412"></a><span class="lineno">  412</span>&#160;        <span class="comment">// Reset point cloud</span></div>
<div class="line"><a name="l00413"></a><span class="lineno">  413</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear();</div>
<div class="line"><a name="l00414"></a><span class="lineno">  414</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve(cloud_size);</div>
<div class="line"><a name="l00415"></a><span class="lineno">  415</span>&#160; </div>
<div class="line"><a name="l00416"></a><span class="lineno">  416</span>&#160;        <span class="comment">// Define point cloud parameters</span></div>
<div class="line"><a name="l00417"></a><span class="lineno">  417</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(width_arg);</div>
<div class="line"><a name="l00418"></a><span class="lineno">  418</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(height_arg);</div>
<div class="line"><a name="l00419"></a><span class="lineno">  419</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00420"></a><span class="lineno">  420</span>&#160; </div>
<div class="line"><a name="l00421"></a><span class="lineno">  421</span>&#160;        <span class="comment">// Calculate center of disparity image</span></div>
<div class="line"><a name="l00422"></a><span class="lineno">  422</span>&#160;        centerX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(width_arg/2);</div>
<div class="line"><a name="l00423"></a><span class="lineno">  423</span>&#160;        centerY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(height_arg/2);</div>
<div class="line"><a name="l00424"></a><span class="lineno">  424</span>&#160; </div>
<div class="line"><a name="l00425"></a><span class="lineno">  425</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> fl_const = 1.0f/focalLength_arg;</div>
<div class="line"><a name="l00426"></a><span class="lineno">  426</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00427"></a><span class="lineno">  427</span>&#160; </div>
<div class="line"><a name="l00428"></a><span class="lineno">  428</span>&#160;        i = 0;</div>
<div class="line"><a name="l00429"></a><span class="lineno">  429</span>&#160;        <span class="keywordflow">for</span> (y=-centerY; y&lt;+centerY; ++y )</div>
<div class="line"><a name="l00430"></a><span class="lineno">  430</span>&#160;          <span class="keywordflow">for</span> (x=-centerX; x&lt;+centerX; ++x )</div>
<div class="line"><a name="l00431"></a><span class="lineno">  431</span>&#160;          {</div>
<div class="line"><a name="l00432"></a><span class="lineno">  432</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> newPoint;</div>
<div class="line"><a name="l00433"></a><span class="lineno">  433</span>&#160; </div>
<div class="line"><a name="l00434"></a><span class="lineno">  434</span>&#160;            <span class="keyword">const</span> uint16_t&amp; pixel_disparity = disparityData_arg[i];</div>
<div class="line"><a name="l00435"></a><span class="lineno">  435</span>&#160; </div>
<div class="line"><a name="l00436"></a><span class="lineno">  436</span>&#160;            <span class="keywordflow">if</span> (pixel_disparity &amp;&amp; (pixel_disparity!=0x7FF))</div>
<div class="line"><a name="l00437"></a><span class="lineno">  437</span>&#160;            {</div>
<div class="line"><a name="l00438"></a><span class="lineno">  438</span>&#160;              <span class="keywordtype">float</span> depth = focalLength_arg / (<span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (pixel_disparity) * disparityScale_arg + disparityShift_arg);</div>
<div class="line"><a name="l00439"></a><span class="lineno">  439</span>&#160; </div>
<div class="line"><a name="l00440"></a><span class="lineno">  440</span>&#160;              <span class="comment">// Define point location</span></div>
<div class="line"><a name="l00441"></a><span class="lineno">  441</span>&#160;              newPoint.z = depth;</div>
<div class="line"><a name="l00442"></a><span class="lineno">  442</span>&#160;              newPoint.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x) * depth * fl_const;</div>
<div class="line"><a name="l00443"></a><span class="lineno">  443</span>&#160;              newPoint.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y) * depth * fl_const;</div>
<div class="line"><a name="l00444"></a><span class="lineno">  444</span>&#160; </div>
<div class="line"><a name="l00445"></a><span class="lineno">  445</span>&#160;              <span class="keywordflow">if</span> (hasColor)</div>
<div class="line"><a name="l00446"></a><span class="lineno">  446</span>&#160;              {</div>
<div class="line"><a name="l00447"></a><span class="lineno">  447</span>&#160;                <span class="keywordflow">if</span> (monoImage_arg)</div>
<div class="line"><a name="l00448"></a><span class="lineno">  448</span>&#160;                {</div>
<div class="line"><a name="l00449"></a><span class="lineno">  449</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_r = rgbData_arg[i];</div>
<div class="line"><a name="l00450"></a><span class="lineno">  450</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_g = rgbData_arg[i];</div>
<div class="line"><a name="l00451"></a><span class="lineno">  451</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_b = rgbData_arg[i];</div>
<div class="line"><a name="l00452"></a><span class="lineno">  452</span>&#160; </div>
<div class="line"><a name="l00453"></a><span class="lineno">  453</span>&#160;                  <span class="comment">// Define point color</span></div>
<div class="line"><a name="l00454"></a><span class="lineno">  454</span>&#160;                  uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_r) &lt;&lt; 16</div>
<div class="line"><a name="l00455"></a><span class="lineno">  455</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_g) &lt;&lt; 8</div>
<div class="line"><a name="l00456"></a><span class="lineno">  456</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_b));</div>
<div class="line"><a name="l00457"></a><span class="lineno">  457</span>&#160;                  newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00458"></a><span class="lineno">  458</span>&#160;                } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00459"></a><span class="lineno">  459</span>&#160;                {</div>
<div class="line"><a name="l00460"></a><span class="lineno">  460</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_r = rgbData_arg[i*3+0];</div>
<div class="line"><a name="l00461"></a><span class="lineno">  461</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_g = rgbData_arg[i*3+1];</div>
<div class="line"><a name="l00462"></a><span class="lineno">  462</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_b = rgbData_arg[i*3+2];</div>
<div class="line"><a name="l00463"></a><span class="lineno">  463</span>&#160; </div>
<div class="line"><a name="l00464"></a><span class="lineno">  464</span>&#160;                  <span class="comment">// Define point color</span></div>
<div class="line"><a name="l00465"></a><span class="lineno">  465</span>&#160;                  uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_r) &lt;&lt; 16</div>
<div class="line"><a name="l00466"></a><span class="lineno">  466</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_g) &lt;&lt; 8</div>
<div class="line"><a name="l00467"></a><span class="lineno">  467</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_b));</div>
<div class="line"><a name="l00468"></a><span class="lineno">  468</span>&#160;                  newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00469"></a><span class="lineno">  469</span>&#160;                }</div>
<div class="line"><a name="l00470"></a><span class="lineno">  470</span>&#160; </div>
<div class="line"><a name="l00471"></a><span class="lineno">  471</span>&#160;              } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00472"></a><span class="lineno">  472</span>&#160;              {</div>
<div class="line"><a name="l00473"></a><span class="lineno">  473</span>&#160;                <span class="comment">// Set white point color</span></div>
<div class="line"><a name="l00474"></a><span class="lineno">  474</span>&#160;                uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255) &lt;&lt; 16</div>
<div class="line"><a name="l00475"></a><span class="lineno">  475</span>&#160;                              | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255) &lt;&lt; 8</div>
<div class="line"><a name="l00476"></a><span class="lineno">  476</span>&#160;                              | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255));</div>
<div class="line"><a name="l00477"></a><span class="lineno">  477</span>&#160;                newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00478"></a><span class="lineno">  478</span>&#160;              }</div>
<div class="line"><a name="l00479"></a><span class="lineno">  479</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00480"></a><span class="lineno">  480</span>&#160;            {</div>
<div class="line"><a name="l00481"></a><span class="lineno">  481</span>&#160;              <span class="comment">// Define bad point</span></div>
<div class="line"><a name="l00482"></a><span class="lineno">  482</span>&#160;              newPoint.x = newPoint.y = newPoint.z = bad_point;</div>
<div class="line"><a name="l00483"></a><span class="lineno">  483</span>&#160;              newPoint.rgb = 0.0f;</div>
<div class="line"><a name="l00484"></a><span class="lineno">  484</span>&#160;            }</div>
<div class="line"><a name="l00485"></a><span class="lineno">  485</span>&#160; </div>
<div class="line"><a name="l00486"></a><span class="lineno">  486</span>&#160;            <span class="comment">// Add point to cloud</span></div>
<div class="line"><a name="l00487"></a><span class="lineno">  487</span>&#160;            cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back(newPoint);</div>
<div class="line"><a name="l00488"></a><span class="lineno">  488</span>&#160;            <span class="comment">// Increment point iterator</span></div>
<div class="line"><a name="l00489"></a><span class="lineno">  489</span>&#160;            ++i;</div>
<div class="line"><a name="l00490"></a><span class="lineno">  490</span>&#160;        }</div>
<div class="line"><a name="l00491"></a><span class="lineno">  491</span>&#160;      }</div>
<div class="line"><a name="l00492"></a><span class="lineno">  492</span>&#160; </div>
<div class="line"><a name="l00503"></a><span class="lineno"><a class="line" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9fd98b6fb1f0e3250c6db9f6bc0f946e">  503</a></span>&#160;      <span class="keyword">static</span> <span class="keywordtype">void</span> <a class="code" href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9fd98b6fb1f0e3250c6db9f6bc0f946e">convert</a>(<span class="keyword">typename</span> std::vector&lt;float&gt;&amp; depthData_arg,</div>
<div class="line"><a name="l00504"></a><span class="lineno">  504</span>&#160;                          <span class="keyword">typename</span> std::vector&lt;uint8_t&gt;&amp; rgbData_arg,</div>
<div class="line"><a name="l00505"></a><span class="lineno">  505</span>&#160;                          <span class="keywordtype">bool</span> monoImage_arg,</div>
<div class="line"><a name="l00506"></a><span class="lineno">  506</span>&#160;                          <span class="keywordtype">size_t</span> width_arg,</div>
<div class="line"><a name="l00507"></a><span class="lineno">  507</span>&#160;                          <span class="keywordtype">size_t</span> height_arg,</div>
<div class="line"><a name="l00508"></a><span class="lineno">  508</span>&#160;                          <span class="keywordtype">float</span> focalLength_arg,</div>
<div class="line"><a name="l00509"></a><span class="lineno">  509</span>&#160;                          <a class="code" href="classpcl_1_1_point_cloud.html">pcl::PointCloud&lt;PointT&gt;</a>&amp; cloud_arg)</div>
<div class="line"><a name="l00510"></a><span class="lineno">  510</span>&#160;      {</div>
<div class="line"><a name="l00511"></a><span class="lineno">  511</span>&#160;        <span class="keywordtype">size_t</span> i;</div>
<div class="line"><a name="l00512"></a><span class="lineno">  512</span>&#160;        <span class="keywordtype">size_t</span> cloud_size = width_arg*height_arg;</div>
<div class="line"><a name="l00513"></a><span class="lineno">  513</span>&#160;        <span class="keywordtype">bool</span> hasColor = (rgbData_arg.size () &gt; 0);</div>
<div class="line"><a name="l00514"></a><span class="lineno">  514</span>&#160; </div>
<div class="line"><a name="l00515"></a><span class="lineno">  515</span>&#160;        <span class="comment">// Check size of input data</span></div>
<div class="line"><a name="l00516"></a><span class="lineno">  516</span>&#160;        assert (depthData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00517"></a><span class="lineno">  517</span>&#160;        <span class="keywordflow">if</span> (hasColor)</div>
<div class="line"><a name="l00518"></a><span class="lineno">  518</span>&#160;        {</div>
<div class="line"><a name="l00519"></a><span class="lineno">  519</span>&#160;          <span class="keywordflow">if</span> (monoImage_arg)</div>
<div class="line"><a name="l00520"></a><span class="lineno">  520</span>&#160;          {</div>
<div class="line"><a name="l00521"></a><span class="lineno">  521</span>&#160;            assert (rgbData_arg.size()==cloud_size);</div>
<div class="line"><a name="l00522"></a><span class="lineno">  522</span>&#160;          } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00523"></a><span class="lineno">  523</span>&#160;          {</div>
<div class="line"><a name="l00524"></a><span class="lineno">  524</span>&#160;            assert (rgbData_arg.size()==cloud_size*3);</div>
<div class="line"><a name="l00525"></a><span class="lineno">  525</span>&#160;          }</div>
<div class="line"><a name="l00526"></a><span class="lineno">  526</span>&#160;        }</div>
<div class="line"><a name="l00527"></a><span class="lineno">  527</span>&#160; </div>
<div class="line"><a name="l00528"></a><span class="lineno">  528</span>&#160;        <span class="keywordtype">int</span> x, y, centerX, centerY;</div>
<div class="line"><a name="l00529"></a><span class="lineno">  529</span>&#160; </div>
<div class="line"><a name="l00530"></a><span class="lineno">  530</span>&#160;        <span class="comment">// Reset point cloud</span></div>
<div class="line"><a name="l00531"></a><span class="lineno">  531</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.clear();</div>
<div class="line"><a name="l00532"></a><span class="lineno">  532</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.reserve(cloud_size);</div>
<div class="line"><a name="l00533"></a><span class="lineno">  533</span>&#160; </div>
<div class="line"><a name="l00534"></a><span class="lineno">  534</span>&#160;        <span class="comment">// Define point cloud parameters</span></div>
<div class="line"><a name="l00535"></a><span class="lineno">  535</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">width</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(width_arg);</div>
<div class="line"><a name="l00536"></a><span class="lineno">  536</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">height</a> = <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(height_arg);</div>
<div class="line"><a name="l00537"></a><span class="lineno">  537</span>&#160;        cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">is_dense</a> = <span class="keyword">false</span>;</div>
<div class="line"><a name="l00538"></a><span class="lineno">  538</span>&#160; </div>
<div class="line"><a name="l00539"></a><span class="lineno">  539</span>&#160;        <span class="comment">// Calculate center of disparity image</span></div>
<div class="line"><a name="l00540"></a><span class="lineno">  540</span>&#160;        centerX = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(width_arg/2);</div>
<div class="line"><a name="l00541"></a><span class="lineno">  541</span>&#160;        centerY = <span class="keyword">static_cast&lt;</span><span class="keywordtype">int</span><span class="keyword">&gt;</span>(height_arg/2);</div>
<div class="line"><a name="l00542"></a><span class="lineno">  542</span>&#160; </div>
<div class="line"><a name="l00543"></a><span class="lineno">  543</span>&#160;        <span class="keyword">const</span> <span class="keywordtype">float</span> fl_const = 1.0f/focalLength_arg;</div>
<div class="line"><a name="l00544"></a><span class="lineno">  544</span>&#160;        <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">float</span> bad_point = std::numeric_limits&lt;float&gt;::quiet_NaN ();</div>
<div class="line"><a name="l00545"></a><span class="lineno">  545</span>&#160; </div>
<div class="line"><a name="l00546"></a><span class="lineno">  546</span>&#160;        i = 0;</div>
<div class="line"><a name="l00547"></a><span class="lineno">  547</span>&#160;        <span class="keywordflow">for</span> (y=-centerY; y&lt;+centerY; ++y )</div>
<div class="line"><a name="l00548"></a><span class="lineno">  548</span>&#160;          <span class="keywordflow">for</span> (x=-centerX; x&lt;+centerX; ++x )</div>
<div class="line"><a name="l00549"></a><span class="lineno">  549</span>&#160;          {</div>
<div class="line"><a name="l00550"></a><span class="lineno">  550</span>&#160;            <a class="code" href="structpcl_1_1_point_x_y_z_r_g_b_a.html">PointT</a> newPoint;</div>
<div class="line"><a name="l00551"></a><span class="lineno">  551</span>&#160; </div>
<div class="line"><a name="l00552"></a><span class="lineno">  552</span>&#160;            <span class="keyword">const</span> <span class="keywordtype">float</span>&amp; pixel_depth = depthData_arg[i];</div>
<div class="line"><a name="l00553"></a><span class="lineno">  553</span>&#160; </div>
<div class="line"><a name="l00554"></a><span class="lineno">  554</span>&#160;            <span class="keywordflow">if</span> (pixel_depth==pixel_depth)</div>
<div class="line"><a name="l00555"></a><span class="lineno">  555</span>&#160;            {</div>
<div class="line"><a name="l00556"></a><span class="lineno">  556</span>&#160;              <span class="keywordtype">float</span> depth = focalLength_arg / pixel_depth;</div>
<div class="line"><a name="l00557"></a><span class="lineno">  557</span>&#160; </div>
<div class="line"><a name="l00558"></a><span class="lineno">  558</span>&#160;              <span class="comment">// Define point location</span></div>
<div class="line"><a name="l00559"></a><span class="lineno">  559</span>&#160;              newPoint.z = depth;</div>
<div class="line"><a name="l00560"></a><span class="lineno">  560</span>&#160;              newPoint.x = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (x) * depth * fl_const;</div>
<div class="line"><a name="l00561"></a><span class="lineno">  561</span>&#160;              newPoint.y = <span class="keyword">static_cast&lt;</span><span class="keywordtype">float</span><span class="keyword">&gt;</span> (y) * depth * fl_const;</div>
<div class="line"><a name="l00562"></a><span class="lineno">  562</span>&#160; </div>
<div class="line"><a name="l00563"></a><span class="lineno">  563</span>&#160;              <span class="keywordflow">if</span> (hasColor)</div>
<div class="line"><a name="l00564"></a><span class="lineno">  564</span>&#160;              {</div>
<div class="line"><a name="l00565"></a><span class="lineno">  565</span>&#160;                <span class="keywordflow">if</span> (monoImage_arg)</div>
<div class="line"><a name="l00566"></a><span class="lineno">  566</span>&#160;                {</div>
<div class="line"><a name="l00567"></a><span class="lineno">  567</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_r = rgbData_arg[i];</div>
<div class="line"><a name="l00568"></a><span class="lineno">  568</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_g = rgbData_arg[i];</div>
<div class="line"><a name="l00569"></a><span class="lineno">  569</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_b = rgbData_arg[i];</div>
<div class="line"><a name="l00570"></a><span class="lineno">  570</span>&#160; </div>
<div class="line"><a name="l00571"></a><span class="lineno">  571</span>&#160;                  <span class="comment">// Define point color</span></div>
<div class="line"><a name="l00572"></a><span class="lineno">  572</span>&#160;                  uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_r) &lt;&lt; 16</div>
<div class="line"><a name="l00573"></a><span class="lineno">  573</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_g) &lt;&lt; 8</div>
<div class="line"><a name="l00574"></a><span class="lineno">  574</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_b));</div>
<div class="line"><a name="l00575"></a><span class="lineno">  575</span>&#160;                  newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00576"></a><span class="lineno">  576</span>&#160;                } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00577"></a><span class="lineno">  577</span>&#160;                {</div>
<div class="line"><a name="l00578"></a><span class="lineno">  578</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_r = rgbData_arg[i*3+0];</div>
<div class="line"><a name="l00579"></a><span class="lineno">  579</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_g = rgbData_arg[i*3+1];</div>
<div class="line"><a name="l00580"></a><span class="lineno">  580</span>&#160;                  <span class="keyword">const</span> uint8_t&amp; pixel_b = rgbData_arg[i*3+2];</div>
<div class="line"><a name="l00581"></a><span class="lineno">  581</span>&#160; </div>
<div class="line"><a name="l00582"></a><span class="lineno">  582</span>&#160;                  <span class="comment">// Define point color</span></div>
<div class="line"><a name="l00583"></a><span class="lineno">  583</span>&#160;                  uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_r) &lt;&lt; 16</div>
<div class="line"><a name="l00584"></a><span class="lineno">  584</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_g) &lt;&lt; 8</div>
<div class="line"><a name="l00585"></a><span class="lineno">  585</span>&#160;                                | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(pixel_b));</div>
<div class="line"><a name="l00586"></a><span class="lineno">  586</span>&#160;                  newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00587"></a><span class="lineno">  587</span>&#160;                }</div>
<div class="line"><a name="l00588"></a><span class="lineno">  588</span>&#160; </div>
<div class="line"><a name="l00589"></a><span class="lineno">  589</span>&#160;              } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00590"></a><span class="lineno">  590</span>&#160;              {</div>
<div class="line"><a name="l00591"></a><span class="lineno">  591</span>&#160;                <span class="comment">// Set white point color</span></div>
<div class="line"><a name="l00592"></a><span class="lineno">  592</span>&#160;                uint32_t rgb = (<span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255) &lt;&lt; 16</div>
<div class="line"><a name="l00593"></a><span class="lineno">  593</span>&#160;                              | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255) &lt;&lt; 8</div>
<div class="line"><a name="l00594"></a><span class="lineno">  594</span>&#160;                              | <span class="keyword">static_cast&lt;</span>uint32_t<span class="keyword">&gt;</span>(255));</div>
<div class="line"><a name="l00595"></a><span class="lineno">  595</span>&#160;                newPoint.rgb = *<span class="keyword">reinterpret_cast&lt;</span><span class="keywordtype">float</span>*<span class="keyword">&gt;</span>(&amp;rgb);</div>
<div class="line"><a name="l00596"></a><span class="lineno">  596</span>&#160;              }</div>
<div class="line"><a name="l00597"></a><span class="lineno">  597</span>&#160;            } <span class="keywordflow">else</span></div>
<div class="line"><a name="l00598"></a><span class="lineno">  598</span>&#160;            {</div>
<div class="line"><a name="l00599"></a><span class="lineno">  599</span>&#160;              <span class="comment">// Define bad point</span></div>
<div class="line"><a name="l00600"></a><span class="lineno">  600</span>&#160;              newPoint.x = newPoint.y = newPoint.z = bad_point;</div>
<div class="line"><a name="l00601"></a><span class="lineno">  601</span>&#160;              newPoint.rgb = 0.0f;</div>
<div class="line"><a name="l00602"></a><span class="lineno">  602</span>&#160;            }</div>
<div class="line"><a name="l00603"></a><span class="lineno">  603</span>&#160; </div>
<div class="line"><a name="l00604"></a><span class="lineno">  604</span>&#160;            <span class="comment">// Add point to cloud</span></div>
<div class="line"><a name="l00605"></a><span class="lineno">  605</span>&#160;            cloud_arg.<a class="code" href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">points</a>.push_back(newPoint);</div>
<div class="line"><a name="l00606"></a><span class="lineno">  606</span>&#160;            <span class="comment">// Increment point iterator</span></div>
<div class="line"><a name="l00607"></a><span class="lineno">  607</span>&#160;            ++i;</div>
<div class="line"><a name="l00608"></a><span class="lineno">  608</span>&#160;        }</div>
<div class="line"><a name="l00609"></a><span class="lineno">  609</span>&#160;      }</div>
<div class="line"><a name="l00610"></a><span class="lineno">  610</span>&#160;    };</div>
<div class="line"><a name="l00611"></a><span class="lineno">  611</span>&#160; </div>
<div class="line"><a name="l00612"></a><span class="lineno">  612</span>&#160;  }</div>
<div class="line"><a name="l00613"></a><span class="lineno">  613</span>&#160;}</div>
<div class="line"><a name="l00614"></a><span class="lineno">  614</span>&#160; </div>
<div class="line"><a name="l00615"></a><span class="lineno">  615</span>&#160; </div>
<div class="line"><a name="l00616"></a><span class="lineno">  616</span>&#160;<span class="preprocessor">#endif</span></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html"><div class="ttname"><a href="classpcl_1_1_point_cloud.html">pcl::PointCloud</a></div><div class="ttdoc">PointCloud represents the base class in PCL for storing collections of 3D points.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:173</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a2185a6453f8ad905d7bdf7b45754a160"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a2185a6453f8ad905d7bdf7b45754a160">pcl::PointCloud::width</a></div><div class="ttdeci">uint32_t width</div><div class="ttdoc">The point cloud width (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:413</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a3ca88d8ebf6f4f35acbc31cdfb38aa94"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a3ca88d8ebf6f4f35acbc31cdfb38aa94">pcl::PointCloud::is_dense</a></div><div class="ttdeci">bool is_dense</div><div class="ttdoc">True if no points are invalid (e.g., have NaN or Inf values).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:418</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_a4f34b45220c57f96607513ffad0d9582"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#a4f34b45220c57f96607513ffad0d9582">pcl::PointCloud::height</a></div><div class="ttdeci">uint32_t height</div><div class="ttdoc">The point cloud height (if organized as an image-structure).</div><div class="ttdef"><b>Definition:</b> point_cloud.h:415</div></div>
<div class="ttc" id="aclasspcl_1_1_point_cloud_html_af16a62638198313b9c093127c492c884"><div class="ttname"><a href="classpcl_1_1_point_cloud.html#af16a62638198313b9c093127c492c884">pcl::PointCloud::points</a></div><div class="ttdeci">std::vector&lt; PointT, Eigen::aligned_allocator&lt; PointT &gt; &gt; points</div><div class="ttdoc">The point data.</div><div class="ttdef"><b>Definition:</b> point_cloud.h:410</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_a_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b_a.html">pcl::PointXYZRGBA</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGBA color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:540</div></div>
<div class="ttc" id="astructpcl_1_1_point_x_y_z_r_g_b_html"><div class="ttname"><a href="structpcl_1_1_point_x_y_z_r_g_b.html">pcl::PointXYZRGB</a></div><div class="ttdoc">A point structure representing Euclidean xyz coordinates, and the RGB color.</div><div class="ttdef"><b>Definition:</b> point_types.hpp:607</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_compression_point_traits_html"><div class="ttname"><a href="structpcl_1_1io_1_1_compression_point_traits.html">pcl::io::CompressionPointTraits</a></div><div class="ttdef"><b>Definition:</b> organized_pointcloud_conversion.h:56</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4_html_a579ab39217105926c1cbb6c49e52de2b"><div class="ttname"><a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html#a579ab39217105926c1cbb6c49e52de2b">pcl::io::OrganizedConversion&lt; PointT, false &gt;::convert</a></div><div class="ttdeci">static void convert(typename std::vector&lt; float &gt; &amp;depthData_arg, typename std::vector&lt; uint8_t &gt; &amp;, bool, size_t width_arg, size_t height_arg, float focalLength_arg, pcl::PointCloud&lt; PointT &gt; &amp;cloud_arg)</div><div class="ttdoc">Convert disparity image to point cloud</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_conversion.h:213</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4_html_aaa671985f19196a8bff9a17b28fdb7ce"><div class="ttname"><a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html#aaa671985f19196a8bff9a17b28fdb7ce">pcl::io::OrganizedConversion&lt; PointT, false &gt;::convert</a></div><div class="ttdeci">static void convert(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, bool, typename std::vector&lt; uint16_t &gt; &amp;disparityData_arg, typename std::vector&lt; uint8_t &gt; &amp;)</div><div class="ttdoc">Convert point cloud to disparity image</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_conversion.h:96</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4_html_ab75504ecc6fa90059ae3d7839a4245d3"><div class="ttname"><a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01false_01_4.html#ab75504ecc6fa90059ae3d7839a4245d3">pcl::io::OrganizedConversion&lt; PointT, false &gt;::convert</a></div><div class="ttdeci">static void convert(typename std::vector&lt; uint16_t &gt; &amp;disparityData_arg, typename std::vector&lt; uint8_t &gt; &amp;, bool, size_t width_arg, size_t height_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, pcl::PointCloud&lt; PointT &gt; &amp;cloud_arg)</div><div class="ttdoc">Convert disparity image to point cloud</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_conversion.h:142</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4_html_a9121c3d27a9c3390d48cd1b96b2f88ee"><div class="ttname"><a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9121c3d27a9c3390d48cd1b96b2f88ee">pcl::io::OrganizedConversion&lt; PointT, true &gt;::convert</a></div><div class="ttdeci">static void convert(const pcl::PointCloud&lt; PointT &gt; &amp;cloud_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, bool convertToMono, typename std::vector&lt; uint16_t &gt; &amp;disparityData_arg, typename std::vector&lt; uint8_t &gt; &amp;rgbData_arg)</div><div class="ttdoc">Convert point cloud to disparity image and rgb image</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_conversion.h:291</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4_html_a9fd98b6fb1f0e3250c6db9f6bc0f946e"><div class="ttname"><a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#a9fd98b6fb1f0e3250c6db9f6bc0f946e">pcl::io::OrganizedConversion&lt; PointT, true &gt;::convert</a></div><div class="ttdeci">static void convert(typename std::vector&lt; float &gt; &amp;depthData_arg, typename std::vector&lt; uint8_t &gt; &amp;rgbData_arg, bool monoImage_arg, size_t width_arg, size_t height_arg, float focalLength_arg, pcl::PointCloud&lt; PointT &gt; &amp;cloud_arg)</div><div class="ttdoc">Convert disparity image to point cloud</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_conversion.h:503</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4_html_ae1202bbc3864ed61308a9a80f30953e4"><div class="ttname"><a href="structpcl_1_1io_1_1_organized_conversion_3_01_point_t_00_01true_01_4.html#ae1202bbc3864ed61308a9a80f30953e4">pcl::io::OrganizedConversion&lt; PointT, true &gt;::convert</a></div><div class="ttdeci">static void convert(typename std::vector&lt; uint16_t &gt; &amp;disparityData_arg, typename std::vector&lt; uint8_t &gt; &amp;rgbData_arg, bool monoImage_arg, size_t width_arg, size_t height_arg, float focalLength_arg, float disparityShift_arg, float disparityScale_arg, pcl::PointCloud&lt; PointT &gt; &amp;cloud_arg)</div><div class="ttdoc">Convert disparity image to point cloud</div><div class="ttdef"><b>Definition:</b> organized_pointcloud_conversion.h:383</div></div>
<div class="ttc" id="astructpcl_1_1io_1_1_organized_conversion_html"><div class="ttname"><a href="structpcl_1_1io_1_1_organized_conversion.html">pcl::io::OrganizedConversion</a></div><div class="ttdef"><b>Definition:</b> organized_pointcloud_conversion.h:80</div></div>
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